Research on the Application of Visual SLAM in Embedded GPU

Table 7

Comparison of average execution times for parallelization.

Test items	CPU-only (s)	GPU-accelerated (s)
Feature extraction 1	0.0283	0.0126
Feature extraction 2	0.0275	0.0122
Feature matching	0.0153	0.0072
Total time consumed	0.0711	0.0320